function obj = coef_Jacob2_qt_hand_eye_func_new(in1)
coef_J2 = in1(:,2);
coef_J5 = in1(:,5);
coef_J6 = in1(:,6);
coef_J7 = in1(:,7);
coef_J15 = in1(:,15);
coef_J16 = in1(:,16);
coef_J17 = in1(:,17);
coef_J18 = in1(:,18);
coef_J19 = in1(:,19);
coef_J20 = in1(:,20);
coef_J21 = in1(:,21);
coef_J22 = in1(:,22);
coef_J23 = in1(:,23);
coef_J24 = in1(:,24);
coef_J37 = in1(:,37);
coef_J38 = in1(:,38);
coef_J39 = in1(:,39);
coef_J40 = in1(:,40);
coef_J41 = in1(:,41);
coef_J42 = in1(:,42);
coef_J43 = in1(:,43);
coef_J44 = in1(:,44);
coef_J45 = in1(:,45);
coef_J46 = in1(:,46);
coef_J47 = in1(:,47);
coef_J48 = in1(:,48);
coef_J49 = in1(:,49);
coef_J50 = in1(:,50);
coef_J51 = in1(:,51);
coef_J52 = in1(:,52);
coef_J53 = in1(:,53);
coef_J54 = in1(:,54);
coef_J55 = in1(:,55);
coef_J56 = in1(:,56);
coef_J57 = in1(:,57);
coef_J58 = in1(:,58);
obj = [coef_J2,coef_J5.*2.0,coef_J6,coef_J7,coef_J15.*3.0,coef_J16.*2.0,coef_J17.*2.0,coef_J18,coef_J19,coef_J20,coef_J21,coef_J22,coef_J23,coef_J24,coef_J37.*4.0,coef_J38.*3.0,coef_J39.*3.0,coef_J40.*2.0,coef_J41.*2.0,coef_J42.*2.0,coef_J43.*2.0,coef_J44.*2.0,coef_J45.*2.0,coef_J46.*2.0,coef_J47,coef_J48,coef_J49,coef_J50,coef_J51,coef_J52,coef_J53,coef_J54,coef_J55,coef_J56,coef_J57,coef_J58];
end
